EP1034997A1 - Vorrichtung zur Regelung des Reibschlusses eines elektrisch angetriebenen Eisenbahnzuges - Google Patents

Vorrichtung zur Regelung des Reibschlusses eines elektrisch angetriebenen Eisenbahnzuges Download PDF

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Publication number
EP1034997A1
EP1034997A1 EP00400621A EP00400621A EP1034997A1 EP 1034997 A1 EP1034997 A1 EP 1034997A1 EP 00400621 A EP00400621 A EP 00400621A EP 00400621 A EP00400621 A EP 00400621A EP 1034997 A1 EP1034997 A1 EP 1034997A1
Authority
EP
European Patent Office
Prior art keywords
motor
signal
controller
characteristic
adhesion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP00400621A
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English (en)
French (fr)
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EP1034997B1 (de
Inventor
Rong Fan Liu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom SA
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Alstom SA
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C15/00—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels
    • B61C15/08—Preventing wheel slippage
    • B61C15/12—Preventing wheel slippage by reducing the driving power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K13/00—Other auxiliaries or accessories for railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a device for controlling the adhesion of a driving an electric rail convoy, and also relates to a system power supply of a powerplant of this type incorporating such a control device grip.
  • the driving force of the vehicle is generally fitted with a grip control device.
  • Such a device conventionally comprises a stage for controlling the supply of the drive motor and an adhesion control stage delivering to the piloting stage a setpoint signal developed from at least one operating characteristic of the engine, so as to control, ie to reduce, even eliminate, the slip of the wheels of the motor.
  • Such a device makes it possible to reduce or even eliminate any initiation of slipping of the wheels, especially when starting the vehicle.
  • the object of the invention is to overcome this drawback.
  • a device for controlling the adhesion of a motor of a electric rail convoy comprising a motor supply control stage drive, an adhesion control stage proper delivering to the stage of control of a setpoint signal developed from at least one characteristic of operation of the engine, so as to control the slippage of the wheels of the drive, and further comprising means for generating an activation signal of the control and means for injecting the activation signal into the setpoint signal so as to make it deliver a modified setpoint signal, characterized in that the means for generating the activation signal include means for measuring a second operating characteristic of the engine and of the means for detecting the direction variation of said second characteristic between two previous activations successive to determine the sign of the activation signal injected into the signal instruction during a subsequent excitation.
  • the invention also relates to a system for controlling the supply of a motor of an electric train convoy, comprising a circuit supplying the motor with electrical energy, characterized in that it comprises a motor adhesion control device as defined above.
  • FIG. 1 shows the general structure of a control system 10 power supply to an engine 12 of a power train of an electric railway convoy.
  • the motor 12 is supplied with electrical energy by a power source 14 under the control of a stage 18 for controlling the supply of the motor 12.
  • control stage 18 is made up of elements suitable for the intended use, of the conventional type, that is to say suitable for regulating the torque of the motor 12 around a value at which the motor is authorized to operate, from a Cmanip setpoint signal. it will therefore not be described in detail below.
  • the system is provided with a control device grip 20.
  • This device which incorporates the control stage 18, further comprises a stage 22 of adhesion control proper delivering to the control stage 18 a signal of setpoint for transmitting maximum torque to the drive wheels.
  • the adhesion control stage 22 receives, at the input, signals corresponding to characteristics representative of the operation of the motor 12 delivered by a processing stage 24 from a signal V for measuring the speed of rotation of the motor 12 delivered by an appropriate sensor 26.
  • the processing unit 24 delivers to the control stage grip 22 a gama signal corresponding to the acceleration of the engine 12 and a signal Dgama corresponding to the derivative, with respect to time, of the acceleration of the motor 12, this Dgama signal being used to increase the reactivity of the device.
  • the adhesion control unit 22 also receives the message signal V from the motor rotation speed and a signal Cm corresponding to the torque value estimated electromagnetic of the motor 12 supplied by the control stage 18, which receives, in input, signals IS1 and IS2 for measuring the supply current of the motor 12 in the case where the motor is three-phase, a single current measurement being sufficient in the case of a DC motor, as well as the signal V for measuring the speed of rotation of the motor, supplied by sensor 26.
  • the adhesion control stage 22 develops, from the acceleration of the engine gama of the Dgama derivative of the acceleration and the Cm value of the estimated torque of the motor I2, an activation signal C_corr of the grip control device so to make it deliver a modified setpoint signal.
  • This activation signal C_corr consists of a signal supplied at the input of a subtractor 27 so as to subtract it from the setpoint signal Cmanip. to develop the setpoint signal Cons presented at the input of the control stage 18.
  • the activation signal C_Corr generates an offset in the Cons setpoint signal compared to the setpoint from the manipulator.
  • control stage grip 22 The detailed description of an exemplary embodiment of the control stage grip 22 will now be made with reference to FIG. 2.
  • This stage comprises, on the one hand, a first part 22a adapted to set up forms the activation signal C_Corr, and in particular to calculate the amplitude of this signal and a second part 22b allowing the determination of the sign of this signal C_corr.
  • the first part 22a includes means for storage 28 ensuring storage of the absolute value of the maximum value gama acceleration between two consecutive activations.
  • These storage means 28 are connected, at output, to a comparator 30 ensuring a comparison between the stored value and a maximum threshold value gama max .
  • the output of this comparator is supplied at the input of a shaping circuit 32 adapted to increase the amplitude of the activation signal C_corr compared to that of the previous activation signal in the case where the value stored in the means storage value is less than this gama max threshold value and to decrease this amplitude otherwise.
  • the second part 22b of the adhesion control stage 22 receives as input to it, the signal Cm corresponding to the estimated value of the electromagnetic torque of the motor 12 and detects the direction of variation of this electromagnetic torque between two successive excitations.
  • this second part 22b includes storage means 34 ensuring the storage of the electromagnetic torque Cm (n-1) corresponding to the activation previous and a comparator 36 ensuring the comparison between the couples electromagnetic Cm (n) and Cm (n-1) of the two previous consecutive activations.
  • comparator 36 is connected to a filter 38 ensuring shaping of the output of this comparator 36 making it possible to control a bi-stable door 40 so as to change the sign of the activation signal in the event that a decrease in torque electromagnetic has been detected and to keep unchanged the sign of the activation signal otherwise.
  • the output of the first and second parts 22a and 22b is connected to a multiplier circuit 42, which outputs the signal activation signal C_corr injected into the setpoint signal by means of the adder 27.
  • a third stabilization stage 22c delivers, from the gama, Dgama and V, a Stab stabilization signal to stabilize the system on a point equilibrium in which the engine torque is equal to the torque transmitted to the rail, this Stab signal being injected into the signal C_corr by an adder 43.
  • the adder 43 is connected to a filter circuit 44 for limiting the signal thus developed to prevent it from exceeding the value of the Cmanip setpoint signal.
  • FIGS. 3 and 4 The operation of the control device which has just been described will now be illustrated with reference to FIGS. 3 and 4 in which, respectively, the variation, as a function of the slip G, on the one hand, of the engine torque Cm (curve 1) and, on the other hand, of the force transmitted to the rim Ct (curve 2), and the variation, depending on the time t, of the setpoint signal Cons, of the acceleration of the gama motor, and of the slip G.
  • the adhesion control stage 22 causes an excitation of the device by causing a variation of the setpoint signal Cons so as to make the engine torque Cm greater than the transmitted torque (point A ').
  • This modification increases the slip and makes the acceleration of the positive gama engine.
  • the stabilization stage 22C causes a correction relative value of the motor torque Cons setpoint so as to make zero gama acceleration and thus stabilize the device (point B).
  • the adhesion control stage 22 performs monitoring the direction of variation of the motor torque Cm between the excitations successive so as to determine the sign of the activation signal C_corr.
  • the difference of couples changes sign, which causes a change in the sign of the signal activation C_corr, and generates a relative decrease in the slip G and a change of sign of the acceleration gama of the engine 12.
  • the stage of stabilization 22c causes an increase in the torque setpoint Cons so as to stabilize the control device again (point F).
  • the action of the activation stage 22 makes it possible to maintain the torque engine within a range of optimal values and transmit to the drive wheels maximum torque allowed by available grip.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Braking Arrangements (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Automatic Cycles, And Cycles In General (AREA)
  • Chain Conveyers (AREA)
EP00400621A 1999-03-11 2000-03-07 Vorrichtung zur Regelung des Reibschlusses eines elektrisch angetriebenen Eisenbahnzuges Expired - Lifetime EP1034997B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9903014A FR2790725B1 (fr) 1999-03-11 1999-03-11 Dispositif de controle de l'adherence d'un convoi ferroviaire electrique
FR9903014 1999-03-11

Publications (2)

Publication Number Publication Date
EP1034997A1 true EP1034997A1 (de) 2000-09-13
EP1034997B1 EP1034997B1 (de) 2005-12-28

Family

ID=9543066

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00400621A Expired - Lifetime EP1034997B1 (de) 1999-03-11 2000-03-07 Vorrichtung zur Regelung des Reibschlusses eines elektrisch angetriebenen Eisenbahnzuges

Country Status (14)

Country Link
US (1) US6411051B1 (de)
EP (1) EP1034997B1 (de)
JP (1) JP4313493B2 (de)
KR (1) KR100608201B1 (de)
AT (1) ATE314236T1 (de)
CA (1) CA2300597C (de)
CZ (1) CZ301963B6 (de)
DE (1) DE60025055T2 (de)
DK (1) DK1034997T3 (de)
ES (1) ES2255479T3 (de)
FR (1) FR2790725B1 (de)
PL (1) PL195876B1 (de)
SK (1) SK285922B6 (de)
ZA (1) ZA200001160B (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2058206A1 (de) * 2007-11-09 2009-05-13 Alstom Transport S.A. Fahrgestell für Schienenfahrzeug, das eine Kontroll- und Antriebsvorrichtung für die Räder umfasst und entsprechendes Kontrollverfahren

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7778747B2 (en) * 2006-08-31 2010-08-17 National Railway Equipment Co. Adhesion control system for off-highway vehicle
DE102014111863B4 (de) 2014-08-20 2017-04-27 Hasse & Wrede Gmbh Radachse mit einem Drehschwingungsdämpfer
JP7111835B2 (ja) * 2018-12-18 2022-08-02 ヤマハ発動機株式会社 電池制御システムおよび鞍乗型車両

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0427138A1 (de) * 1989-11-08 1991-05-15 Gec Alsthom Sa Antischlupf- oder Schleuderschutzverfahren für Fahrzeuge mit elektrischem Antrieb und Anwendung bei Auftreten von Schlupf oder Schleudern und beim Messen der Reibungskraft für ein solches Fahrzeug
DE4402152C1 (de) * 1994-01-26 1995-04-20 Abb Management Ag Schleuderschutz für mit Asynchronmotoren angetriebene Fahrzeuge
DE19548286C1 (de) * 1995-12-22 1997-03-27 Mtu Friedrichshafen Gmbh Schleuderschutz-Verfahren
DE19539652A1 (de) * 1995-10-25 1997-04-30 Beck Hans Peter Prof Dr Ing Verfahren zur verschleißorientierten Kraftschlußregelung mit variablem Arbeitsintervall für Triebfahrzeuge mit stromrichtergespeisten Fahrmotoren

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US3764867A (en) * 1972-11-14 1973-10-09 Gen Electric Traction motor speed regulation for propulsion systems providing smooth stepless changes in speed and automatic wheel slip control
SE371615C (de) * 1973-04-06 1975-04-28 Asea Ab
US4075538A (en) * 1976-05-19 1978-02-21 General Electric Company Adaptive acceleration responsive system
SE400236B (sv) * 1976-07-15 1978-03-20 Asea Ab Anordning vid ett motordrivet fordon
JPS5517230A (en) * 1978-07-21 1980-02-06 Hitachi Ltd Control device for electric motor car
JPS55117403A (en) * 1979-03-05 1980-09-09 Hitachi Ltd Controlling device vehicle driving induction motor
JPS5612803A (en) * 1979-07-06 1981-02-07 Hitachi Ltd Controller for electric vehicle driven by induction motor
US4686434A (en) * 1985-03-14 1987-08-11 Mitsubishi Denki Kabushiki Kaisha Electric vehicle monitoring system
US4944539A (en) * 1989-03-15 1990-07-31 Tranergy Corporation Differential creepage control system for optimizing adhesion of locomotives
US5289093A (en) * 1989-11-08 1994-02-22 Gec Alsthom Sa Antispin and antilock methods for an electric traction vehicle
US5480220A (en) * 1992-08-26 1996-01-02 General Electric Company Method for inhibiting wheel slip in an electric alternating current induction motor powered vehicle
JP3387542B2 (ja) * 1993-02-08 2003-03-17 株式会社ナブコ 鉄道車両用荷重設定器
DE4312949A1 (de) * 1993-04-21 1994-10-27 Abb Research Ltd Verfahren zur Steuerung und Regelung eines elektrischen Antriebes eines Fahrzeuges
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JPH0956005A (ja) * 1995-08-18 1997-02-25 Hitachi Ltd 電気車の制御装置
DE19727507A1 (de) * 1997-06-30 1999-01-07 Abb Daimler Benz Transp Regelung für einen Antrieb mit einem Asynchronmotor
US6012011A (en) * 1997-09-11 2000-01-04 Johnson; Chipley H. Traction control system and a method for remedying wheel-slippage
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0427138A1 (de) * 1989-11-08 1991-05-15 Gec Alsthom Sa Antischlupf- oder Schleuderschutzverfahren für Fahrzeuge mit elektrischem Antrieb und Anwendung bei Auftreten von Schlupf oder Schleudern und beim Messen der Reibungskraft für ein solches Fahrzeug
DE4402152C1 (de) * 1994-01-26 1995-04-20 Abb Management Ag Schleuderschutz für mit Asynchronmotoren angetriebene Fahrzeuge
DE19539652A1 (de) * 1995-10-25 1997-04-30 Beck Hans Peter Prof Dr Ing Verfahren zur verschleißorientierten Kraftschlußregelung mit variablem Arbeitsintervall für Triebfahrzeuge mit stromrichtergespeisten Fahrmotoren
DE19548286C1 (de) * 1995-12-22 1997-03-27 Mtu Friedrichshafen Gmbh Schleuderschutz-Verfahren

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2058206A1 (de) * 2007-11-09 2009-05-13 Alstom Transport S.A. Fahrgestell für Schienenfahrzeug, das eine Kontroll- und Antriebsvorrichtung für die Räder umfasst und entsprechendes Kontrollverfahren
FR2923441A1 (fr) * 2007-11-09 2009-05-15 Alstom Transport Sa Bogie de vehicule ferroviaire comprenant un dispositif de controle de l'entrainement des roues, et procede de controle correspondant

Also Published As

Publication number Publication date
US6411051B1 (en) 2002-06-25
CZ2000887A3 (cs) 2000-11-15
DE60025055D1 (de) 2006-02-02
CZ301963B6 (cs) 2010-08-18
CA2300597A1 (fr) 2000-09-11
ES2255479T3 (es) 2006-07-01
SK3572000A3 (en) 2000-11-07
EP1034997B1 (de) 2005-12-28
JP4313493B2 (ja) 2009-08-12
FR2790725B1 (fr) 2004-02-13
PL338940A1 (en) 2000-09-25
ATE314236T1 (de) 2006-01-15
CA2300597C (fr) 2007-11-06
PL195876B1 (pl) 2007-11-30
KR100608201B1 (ko) 2006-08-04
DK1034997T3 (da) 2006-05-22
DE60025055T2 (de) 2006-08-03
KR20010020657A (ko) 2001-03-15
FR2790725A1 (fr) 2000-09-15
SK285922B6 (sk) 2007-11-02
ZA200001160B (en) 2000-12-15
JP2000312401A (ja) 2000-11-07

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